Halve the passion fruits and scoop out the pulp using a spoon. Strain the pulp through a sieve to remove the seeds, reserving the smooth juice.
In a medium bowl, combine the passion fruit juice with the lemon juice and vanilla extract. The lemon juice enhances the fresh, tropical flavor of the passion fruit.
In a large bowl, whip the heavy cream until soft peaks form. Be careful not to overwhip; you want a medium-soft consistency.
Gently fold the whipped cream into the sweetened condensed milk until you have a smooth and creamy mixture.
Add the passion fruit juice to the cream mixture and gently fold until all ingredients are well combined.
Pour the mixture into an airtight container and freeze for at least 4-6 hours, or until completely solid.
Before serving, let the ice cream sit at room temperature for 5 minutes to soften slightly and make it easier to scoop.
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